KR102406545B1 - System for automatically rotating a sterring wheel of an agricultural machine - Google Patents

Abstract

The present invention relates to a system for automatically rotating a steering wheel of an agricultural machine. Specifically, the present invention relates to a system for performing autonomous driving of an agricultural machine by automatically rotating the steering wheel in combination with the steering wheel of the agricultural machine. According to various embodiments of the present disclosure, in a system for automatically rotating a steering wheel of an agricultural machine, the system includes an auto steer device, wherein the auto steer device wraps around a pole of the steering wheel and is configured to be coupled to the pole. and a frame assembly including a central opening enclosing the steering wheel and the rotation assembly on which a first gear is disposed around the rotation assembly, and a second gear meshing with the first gear is disposed on an inner surface of the central opening, a motor configured to rotate the rotating assembly and the steering wheel through the first gear by rotating the second gear; and a motor disposed between the second gear and the motor, the motor configured to lower the number of revolutions of the motor to apply a driving force with the lowered number of revolutions to the second gear. A system is provided that includes a reducer configured to transmit.

Description

A system for automatically rotating the steering wheel of agricultural machinery {SYSTEM FOR AUTOMATICALLY ROTATING A STERRING WHEEL OF AN AGRICULTURAL MACHINE}

The present invention relates to a system for automatically rotating a steering wheel of an agricultural machine. Specifically, the present invention relates to a system for performing autonomous driving of an agricultural machine by automatically rotating the steering wheel in combination with the steering wheel of the agricultural machine.

Agricultural machinery is being treated as a very important factor in order to reduce the high labor burden and production cost in response to the labor shortage caused by the decline of the rural labor force and aging population. Agricultural machinery is intended to perform various agricultural tasks and enables various types of work such as plow, rotary, pest control, and rice transplanting work. It is classified as a passenger working machine that operates agricultural machinery by riding in the driver's seat.

Recently, as a driving assistance system such as an advanced driver assistance system (ADAS) has been introduced in the automobile field, research and development for autonomous driving is being conducted. Agricultural machinery, which has a mechanism similar to automobiles, has also introduced autonomous driving, and research and development on devices and methods to perform agricultural work more efficiently are in progress.

One of the parts for automating agricultural work using agricultural machinery is to automatically perform steering. In most agricultural machines, steering is performed through the steering wheel, and for autonomous driving of agricultural machines, it is necessary to perform control of the steering wheel without human intervention. Accordingly, there is a need for a system for automatically controlling the steering wheel of an agricultural machine.

With the development of wireless communication technology, telematics devices that are electrically coupled to agricultural machines and perform wireless communication with servers such as agricultural machine manufacturers and agricultural machine-related status and control information are being distributed. If the telematics device is used, the user can control the operation of the agricultural machine without going directly to the agricultural machine. Control of the steering wheel for agricultural machinery can be used as a remote steering wheel control by combining with a communication system. Accordingly, there is a need for a system for remotely and automatically controlling the steering wheel of an agricultural machine through wireless communication.

In Western countries such as the United States, the agricultural environment is field-oriented and the roads are well paved. In paddy fields or reclaimed land, since the wheels of agricultural machinery are largely submerged in mud, the torque required to control the steering wheel of agricultural machinery in paddy or reclaimed land is significantly higher than the torque required to control the steering wheel of agricultural machinery on paved roads or fields. Big. Accordingly, there is a need for a system capable of adjusting the torque for controlling the steering wheel according to the type of land on which the agricultural machinery is located to perform the work.

Registered Patent No. 10-1965094 (Hydraulic control valve assembly of automatic steering system for agricultural machinery)

Based on the above discussion, various embodiments of the present invention provide a system for automatically rotating a steering wheel of an agricultural machine.

Various embodiments of the present invention provide a system for performing autonomous driving of an agricultural machine by automatically rotating the steering wheel in combination with the steering wheel of the agricultural machine.

Various embodiments of the present invention provide a system for automatically controlling a steering wheel of an agricultural machine.

Various embodiments of the present invention provide a system for remotely and automatically controlling a steering wheel of an agricultural machine through wireless communication.

Various embodiments of the present invention provide a system capable of adjusting the torque for controlling the steering wheel according to the type of land on which the agricultural machine is located to perform work.

According to various embodiments of the present disclosure, in a system for automatically rotating a steering wheel of an agricultural machine, the system includes an auto steer device, wherein the auto steer device wraps around a pole of the steering wheel and is configured to be coupled to the pole. and a frame assembly including a central opening enclosing the steering wheel and the rotation assembly on which a first gear is disposed around the rotation assembly, and a second gear meshing with the first gear is disposed on an inner surface of the central opening, a motor configured to rotate the rotating assembly and the steering wheel through the first gear by rotating the second gear; and a motor disposed between the second gear and the motor, the motor configured to lower the number of revolutions of the motor to apply a driving force with the lowered number of revolutions to the second gear. A system is provided that includes a reducer configured to transmit.

According to various embodiments of the present disclosure, in a system for automatically rotating a steering wheel of an agricultural machine, the system further includes a controller device electrically connected to an auto steer device, wherein the controller device includes a processor, a memory, a transceiver and a global positioning system) sensor, the processor is configured to control the transceiver to receive autonomous driving control information from the user terminal, and to control the motor and the reducer based on the autonomous driving control information.

Various embodiments of the present invention may provide a system for automatically rotating a steering wheel of an agricultural machine.

Various embodiments of the present disclosure may provide a system for performing autonomous driving of an agricultural machine by automatically rotating the steering wheel in combination with the steering wheel of the agricultural machine.

Various embodiments of the present invention may provide a system for automatically controlling the steering wheel of an agricultural machine.

Various embodiments of the present invention may provide a system for remotely and automatically controlling the steering wheel of an agricultural machine through wireless communication.

Various embodiments of the present invention may provide a system capable of adjusting the torque for controlling the steering wheel according to the type of land on which the agricultural machine is located to perform work.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those of ordinary skill in the art to which the present disclosure belongs from the description below. will be.

1A shows an example of a steering scheme for a vehicle.
1B shows an example of a steering scheme for a vehicle.
2 illustrates an appearance of an auto steer device according to various embodiments of the present disclosure.
3 illustrates an interior of an auto steer device according to various embodiments of the present disclosure.
4 illustrates an inside of an auto steer device according to various embodiments of the present disclosure.
5 illustrates an inside of an auto steer device according to various embodiments of the present disclosure.
6 shows the configuration of a system for automatically rotating the steering wheel of an agricultural machine according to various embodiments of the present invention.

Terms used in the present invention are only used to describe specific embodiments, and may not be intended to limit the scope of other embodiments. The singular expression may include the plural expression unless the context clearly dictates otherwise. Terms used herein, including technical or scientific terms, may have the same meanings as commonly understood by one of ordinary skill in the art described in the present invention. Among the terms used in the present invention, terms defined in a general dictionary may be interpreted with the same or similar meaning as the meaning in the context of the related art, and unless explicitly defined in the present invention, ideal or excessively formal meanings is not interpreted as In some cases, even terms defined in the present invention cannot be construed to exclude embodiments of the present invention.

1A shows an example of a steering scheme for a vehicle.

Specifically, FIG. 1A shows an electric power steering of a motor driven power steering (MDPS) method.

1B shows an example of a steering scheme for a vehicle.

Specifically, FIG. 1B shows hydraulic power steering of a hydraulic power steering (HPS) method.

Agricultural machinery, such as tractors and rice transplanters, which have been released in the past, are mainly designed with a hydraulic power steering (HPS) method, not a motor driven power steering (MDPS) method.

A motor driven power steering (MDPS) method is an electric power steering method using a motor. Since the motor is driven using an electric battery, unlike HPS, it does not affect fuel efficiency and does not require oil change. In addition, the number of parts is small, so it is advantageous to secure space, and the price is relatively low. MDPS is the most used because it is installed in autonomous vehicles, which are emerging recently, and functions such as driving and parking assistance are implemented. In addition, since the steering force can be adjusted according to the driving mode (Comfort, Eco, Sport, Individual, etc.), the vehicle can be driven with a response force that suits the situation.

The hydraulic power steering (HPS) method is a hydraulic power steering method. Because it is a mechanical method without the intervention of electronic equipment, it is highly responsive. However, since it is a hydraulically operated system, there is a disadvantage that the power oil must be periodically maintained. Also, since the power oil must be operated, there is also a disadvantage of adversely affecting fuel efficiency. In addition, since many parts and space are required to configure the system, it is not applied to recently produced vehicles.

The MDPS method is a system mainly applied in automobiles. Among them, C-MDPS (column type MDPS) steering consists of a torque sensor/reducer/drive motor/controller on the column axis, calculates the driver's required torque based on the driver's torsion amount, and considers the vehicle speed information. Transmits torque to the wheel.

On the other hand, in the case of agricultural machines, since most of them are configured in the HPS method, it is impossible to automatically control the steering wheel without an external device that can turn the steering wheel.

Therefore, according to various embodiments of the present invention, by introducing a mechanism capable of returning the steering wheel of the agricultural machine from the outside, it is compatible with agricultural machines such as tractors and rice transplanters released in the prior art, thereby automatically steering the steering wheel for HPS-type agricultural machines. It provides an auto-steer system for automatically performing agricultural work by controlling the

2 illustrates an appearance of an auto steer device according to various embodiments of the present disclosure.

The auto steer device of FIG. 2 includes an opening that can be engaged with a column of a steering wheel of an agricultural machine. The auto-steer device is configured to rotate the steering wheel under control of an electrically coupled controller device.

3 illustrates an inside of an auto steer device according to various embodiments of the present disclosure.

Specifically, FIG. 3 shows the interior of the auto steer device 100 in an open state.

Referring to FIG. 3 , the auto steer device 100 includes a rotation assembly 110 , a frame assembly 120 , a motor 130 , and a reducer 140 .

The rotating assembly 110 includes an opening in its inner surface, the opening being configured to wrap around a pole of a steering wheel of an agricultural machine and engage the pole of the steering wheel. A first gear 111 is disposed on the outer surface of the rotation assembly 110 .

The frame assembly 120 includes a central opening surrounding the steering wheel and the rotation assembly 110 , and second gears 121 and 122 are disposed on inner surfaces of the central opening. The second gears 121 and 122 are configured to mesh with the first gear 111 . Frame assembly 120 may be configured to open and close. After coupling the rotation assembly 110 to the pillar of the steering wheel, in order to automatically control the steering wheel using the auto steer device 100, the frame assembly 120 is combined with the rotation assembly 110, and the auto steer device 100 ), in order for the operator of the agricultural machine to manually control the steering wheel without the need to combine the frame assembly 120 with the rotation assembly 110 . A portion 121 of the second gear is disposed in the open portion of the frame assembly 120 , and the remainder 122 of the second gear is disposed in the body portion of the frame assembly 120 . When the frame assembly 120 is closed, the portion 121 of the second gear and the remainder 122 of the second gear together form a circle.

The motor 130 is disposed inside the frame assembly 120 . The motor 130 rotates the rotation assembly 110 coupled with the pillar of the steering wheel through the first gear 111 meshed with the second gears 121 and 122 by rotating the second gears 121 and 122, and thus It is thus configured to rotate the steering wheel. The motor 130 operates under the control of the auto steer device 100 and the controller device 200 electrically connected to the motor 130 .

The reducer 140 is disposed inside the frame assembly 120 . The reducer 140 is disposed between the second gears 121 and 122 and the motor 130 . The reducer 140 is configured to lower the number of revolutions of the motor 130 and transmit the driving force with the lowered number of revolutions to the second gears 121 and 122 . The speed reducer 140 operates under the control of the auto-steer device 100 and the controller device 200 electrically connected to each other.

4 illustrates an inside of an auto steer device according to various embodiments of the present disclosure.

Specifically, FIG. 4 shows the interior of the auto steer device 100 in a closed state.

Referring to FIG. 4 , the auto steer device 100 includes a rotation assembly 110 , a frame assembly 120 , a motor 130 , and a reducer 140 . A detailed configuration of the auto steer device 100 is the same as described above with reference to FIG. 3 .

The auto steer device 100 may be opened and closed by opening and closing the frame assembly 120 .

Frame assembly 120 may be configured to open and close. After coupling the rotation assembly 110 to the pillar of the steering wheel, in order to automatically control the steering wheel using the auto steer device 100, the frame assembly 120 is combined with the rotation assembly 110, and the auto steer device 100 ), in order for the operator of the agricultural machine to manually control the steering wheel without the need to combine the frame assembly 120 with the rotation assembly 110 . A portion 121 of the second gear is disposed in the open portion of the frame assembly 120 , and the remainder 122 of the second gear is disposed in the body portion of the frame assembly 120 . When the frame assembly 120 is closed, the portion 121 of the second gear and the remainder 122 of the second gear together form a circle.

5 illustrates an interior of an auto steer device according to various embodiments of the present disclosure.

Specifically, FIG. 5 shows the interior of the auto steer device 100 in a closed state.

Referring to FIG. 5 , the auto steer device 100 includes a rotation assembly 110 , a frame assembly 120 , a motor 130 , and a reducer 140 . A detailed configuration of the auto steer device 100 is the same as described above with reference to FIG. 3 .

The auto steer device 100 may be opened and closed by opening and closing the frame assembly 120 .

Frame assembly 120 may be configured to open and close. After coupling the rotation assembly 110 to the pillar of the steering wheel, in order to automatically control the steering wheel using the auto steer device 100, the frame assembly 120 is combined with the rotation assembly 110, and the auto steer device 100 ), in order for the operator of the agricultural machine to manually control the steering wheel without the need to combine the frame assembly 120 with the rotation assembly 110 . A portion 121 of the second gear is disposed in the open portion of the frame assembly 120 , and the remainder 122 of the second gear is disposed in the body portion of the frame assembly 120 . When the frame assembly 120 is closed, the portion 121 of the second gear and the remainder 122 of the second gear together form a circle.

6 shows the configuration of a system for automatically rotating the steering wheel of an agricultural machine according to various embodiments of the present invention.

Referring to FIG. 6 , a system 300 for automatically rotating a steering wheel of an agricultural machine according to various embodiments of the present disclosure includes an auto steer device 100 and a controller device 200 .

The auto steer device 100 and the controller device 200 are electrically connected to each other. According to an embodiment, the auto steer device 100 is coupled to the steering wheel of the agricultural machine, the controller device 200 is disposed inside near the driver's seat of the farm machine, and the auto steer device 100 and the controller device 200 are electrically They can be connected to each other through lines. The controller device 200 may receive information related to autonomous driving control of an agricultural machine by connecting to a user terminal of a remote agricultural machine user or a server of an agricultural machine manufacturer using wireless communication. The controller device 200 transmits a control signal to the auto steer device 100 based on information related to autonomous driving control received from a user terminal or a server so that the steering wheel of the agricultural machine is directed in an appropriate direction at an appropriate point during the operation of the agricultural machine. It can be controlled to rotate to an appropriate degree.

The auto steer device 100 includes a rotation assembly 110 , a frame assembly 120 , a motor 130 , and a reducer 140 .

The rotating assembly 110 includes an opening in its inner surface, the opening being configured to wrap around a pole of a steering wheel of an agricultural machine and engage the pole of the steering wheel. A first gear 111 is disposed on the outer surface of the rotation assembly 110 .

The frame assembly 120 includes a central opening surrounding the steering wheel and the rotation assembly 110 , and second gears 121 and 122 are disposed on inner surfaces of the central opening. The second gears 121 and 122 are configured to mesh with the first gear 111 . Frame assembly 120 may be configured to open and close. After coupling the rotation assembly 110 to the pillar of the steering wheel, in order to automatically control the steering wheel using the auto steer device 100, the frame assembly 120 is combined with the rotation assembly 110, and the auto steer device 100 ), in order for the operator of the agricultural machine to manually control the steering wheel without the need to combine the frame assembly 120 with the rotation assembly 110 . A portion 121 of the second gear is disposed in the open portion of the frame assembly 120 , and the remainder 122 of the second gear is disposed in the body portion of the frame assembly 120 . When the frame assembly 120 is closed, the portion 121 of the second gear and the remainder 122 of the second gear together form a circle.

The motor 130 is disposed inside the frame assembly 120 . The motor 130 rotates the rotation assembly 110 coupled with the pillar of the steering wheel through the first gear 111 meshed with the second gears 121 and 122 by rotating the second gears 121 and 122, and thus It is thus configured to rotate the steering wheel. The motor 130 operates under the control of the auto steer device 100 and the controller device 200 electrically connected to the motor 130 .

The reducer 140 is disposed inside the frame assembly 120 . The reducer 140 is disposed between the second gears 121 and 122 and the motor 130 . The reducer 140 is configured to lower the number of revolutions of the motor 130 and transmit the driving force with the lowered number of revolutions to the second gears 121 and 122 . The speed reducer 140 operates under the control of the auto-steer device 100 and the controller device 200 electrically connected to each other.

According to various embodiments of the present disclosure, the output torque of the auto steer device 100 is the torque of the motor 130 , the reduction ratio of the reducer 140 , the efficiency based on the reduction ratio of the reducer 140 , the first gear 111 and It may correspond to the product of the gear ratios of the second gears 121 and 122 .

In Western countries such as the United States, the agricultural environment is field-oriented and the roads are well paved. In paddy fields or reclaimed land, since the wheels of agricultural machinery are largely submerged in mud, the torque required to control the steering wheel of agricultural machinery in paddy or reclaimed land is significantly higher than the torque required to control the steering wheel of agricultural machinery on paved roads or fields. Big.

According to various embodiments of the present disclosure, the output torque of the auto steer device 100 may be designed to be high in order to smoothly turn the steering wheel of the agricultural machine even in a barren environment such as rice farming.

According to various embodiments of the present disclosure, the gear ratio of the first gear 111 and the second gears 121 and 122 may be 3:1, and the rated torque of the motor 130 may be 0.13 Nm. Based on these conditions, when the reduction ratio of the reducer 140 is 30.00 and the efficiency of the reducer 140 is 55%, the rated output torque of the auto steer device 100 for controlling the steering wheel is 6.44 Nm. can

According to various embodiments of the present disclosure, the gear ratio of the first gear 111 and the second gears 121 and 122 may be 3:1, and the rated torque of the motor 130 may be 0.13 Nm. Based on these conditions, when the reduction ratio of the reducer 140 is 15.00 and the efficiency of the reducer 140 is 65%, the rated output torque of the auto steer device 100 for controlling the steering wheel is 3.80 Nm. can

According to various embodiments of the present disclosure, the gear ratio of the first gear 111 and the second gears 121 and 122 may be 3:1, and the rated torque of the motor 130 may be 0.13 Nm. Based on these conditions, when the reduction ratio of the reducer 140 is 10.00 and the efficiency of the reducer 140 is 70%, the rated output torque of the auto steer device 100 for controlling the steering wheel is 2.73 Nm. can

The controller device 200 includes a processor 210 , a memory 220 , a transceiver 230 , and a global positioning system (GPS) sensor 240 .

The processor 210 may be configured to implement control for the auto steer device 100 . The processor 210 controls overall operations of the system 300 for automatically rotating the steering wheel of the agricultural machine. For example, the processor 210 transmits or receives information and the like through the transceiver 230 . In addition, the processor 123 writes data to and reads data from the memory 220 . In addition, the processor 210 writes data to and reads data from the memory 220 . A GPS position of the controller device 200 is identified by controlling the GPS sensor 240 . In addition, the processor 210 controls the operations of the motor 130 and the reducer 140 in the auto steer device 100 . The processor 210 may include at least one processor.

The memory 220 is connected to the transceiver 230 and may store information received through communication and the like. In addition, the memory 220 may be connected to the processor 210 and store data such as a basic program for the operation of the processor 210 , an application program, setting information, and information generated by the operation of the processor 210 . . The memory 220 may be configured as a volatile memory, a non-volatile memory, or a combination of a volatile memory and a non-volatile memory. In addition, the memory 220 may provide stored data according to a request of the processor 210 .

The transceiver 230 is connected to the processor 210 and transmits and/or receives signals. All or part of the transceiver 230 may be referred to as a transmitter or a receiver, or a transceiver. The transceiver 230 is a radio access system, which is an Institute of Electrical and Electronics Engineers (IEEE) 802.xx system, an IEEE Wi-Fi system, a 3rd generation partnership project (3GPP) system, a 3GPP long term evolution (LTE) system, and a 3GPP 5G NR system. At least one of various wireless communication standards such as a (new radio) system, a 3GPP2 system, and Bluetooth may be supported.

The global positioning system (GPS) sensor 240 is configured to determine a global positioning system (GPS) position of the controller device 200 . The GPS sensor 240 receives signals transmitted from three or more GPS satellites and determines the positions of the satellites and the GPS sensor 240 . By measuring the time difference between the signal transmitted from the GPS satellite and the signal received from the GPS sensor 240, the distance between the GPS satellite and the GPS sensor 240 can be obtained. Contains information about the location. Once you know the distance to at least three GPS satellites and the location of each GPS satellite, you can calculate the position of the GPS sensor using methods such as trilateration. Using the GPS sensor 240, the controller device 200 may determine the GPS location of the physically coupled agricultural machine.

According to various embodiments of the present disclosure, the speed reducer 140 is configured to be shiftable with respect to a ratio of lowering the rotation speed of the second gear compared to the rotation speed of the motor 130 , and the processor 210 is configured to the speed reducer 140 . It may be further configured to perform shift control with respect to the .

According to various embodiments of the present disclosure, the processor 210 controls the transceiver 230 to request information on the type of land corresponding to the GPS location of the controller device 200 sensed by the GPS sensor 240 . transmits to the server, controls the transceiver 230 to receive information on the type of land from the server, determines the shift step of the reducer 140 based on the type of land, and determines the speed reducer ( 140) may be further configured to perform shift control.

According to various embodiments of the present disclosure, the type of land is one of a paved road, an unpaved road, a field, a paddy field, and a reclaimed land, and the shifting step is such that the reduction ratio is low in the order of the paved road, unpaved road, field, paddy field, and reclaimed land. It can be configured such that the reduction ratio of the pavement road is the lowest and the reduction ratio of the reclaimed land is the highest.

According to various embodiments of the present disclosure, the processor 210 controls the transceiver 230 to request information on the type of land corresponding to the GPS location of the controller device 200 sensed by the GPS sensor 240 . may be further configured to transmit to the server, control the transceiver 230 to receive information on the type of land from the server, and to determine the output torque of the auto steer device 100 based on the type of land. The output torque may correspond to the product of the torque of the motor 130, the reduction ratio of the reducer 140, the efficiency based on the reduction ratio of the reducer 140, and the gear ratio of the first gear 111 and the second gears 121 and 122. have. The processor 210 may be further configured to determine a shift step of the reducer 140 based on the determined output torque, and to perform shift control on the speed reducer 140 based on the determined shift step.

According to various embodiments of the present disclosure, the processor 210 is further configured to determine the torque of the motor 130 based on the determined output torque, and to control the output to the motor 130 based on the determined torque of the motor. can be

According to various embodiments of the present disclosure, the processor 210 controls the transceiver 230 to receive GPS-based movement route information of the agricultural machine from the user terminal, and controls the motor 130 based on the movement route information to automatically The steer device 100 may be further configured to rotate the steering wheel.

According to various embodiments of the present disclosure, the processor 210 includes a first line connecting the GPS position before the unit distance of the agricultural machine on the moving path and the current GPS position of the controller device, and the GPS after the unit distance of the agricultural machine on the moving path. A second line connecting the location and the current GPS location of the controller device may be determined. The processor 210 may determine whether to rotate the steering wheel, a rotation direction of the steering wheel, and a rotation angle of the steering wheel based on the angles of the first line and the second line. The processor 210 may be further configured such that the auto steer device 100 rotates the steering wheel by controlling the motor 130 based on whether the steering wheel is rotated, the rotation direction of the steering wheel, and the rotation angle of the steering wheel. have.

According to various embodiments of the present disclosure, the controller device 200 remotely receives a control signal through wireless communication with respect to the farm machine far away from the user of the agricultural machine and controls the auto steer device 100 based on the control signal. , it is possible to remotely and automatically control the steering wheel of agricultural machinery.

According to various embodiments of the present invention, whether the agricultural machine performs work in paddy fields or reclaimed land, or whether the agricultural machine performs work in the field, or whether the agricultural machine moves on an unpaved road, or whether the agricultural machine moves on the pavement In order for the controller device 200 to determine based on the GPS position and smoothly rotate the steering wheel of the agricultural machine according to each environment, the controller device 200 determines at least one of the reduction ratio of the speed reducer 140 and the torque of the motor 130 . By controlling one, the output torque of the auto steer device 100 may be adjusted.

The embodiments described above are those in which elements and features of the present invention are combined in a predetermined form. Each component or feature should be considered optional unless explicitly stated otherwise. Each component or feature may be implemented in a form that is not combined with other components or features. In addition, it is also possible to configure an embodiment of the present invention by combining some elements and/or features. The order of operations described in embodiments of the present invention may be changed. Some configurations or features of one embodiment may be included in other embodiments, or may be replaced with corresponding configurations or features of other embodiments. It is obvious that claims that are not explicitly cited in the claims can be combined to form an embodiment or included as a new claim by amendment after filing.

It will be apparent to those skilled in the art that the present invention can be embodied in other forms without departing from the spirit and essential characteristics of the present invention. Accordingly, the above embodiments should be considered in all respects as illustrative and not restrictive. The scope of the present invention should be determined by a reasonable interpretation of the appended claims and all possible changes within the equivalent scope of the present invention.

100: auto steer device 111: first gear
120: frame assembly 121: part of the second gear
122: remainder of the second gear 130: motor
140: reducer 200: controller device
210: processor 220: memory
230: transceiver 240: GPS sensor
300: system

Claims (10)

A system for automatically rotating a steering wheel of an agricultural machine, the system comprising:
including an auto-steer device;
The auto steer device is
a rotation assembly configured to surround a periphery of a pole of the steering wheel and engage with the pole, and a first gear disposed around the perimeter of the rotation assembly;
A frame assembly including a central opening surrounding the steering wheel and the rotating assembly, and a second gear meshing with the first gear is disposed on an inner surface of the central opening,
a motor configured to rotate the rotating assembly and the steering wheel through the first gear by rotating the second gear;
A speed reducer disposed between the second gear and the motor and configured to lower the rotation speed of the motor to transmit a driving force with the reduced rotation speed to the second gear,
system.
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